public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

depth filter now also updates old seeds with new keyframes. previously a keyframe was only used to initialize new seeds.

Browse Source
This commit is contained in:
Christian Forster
2014-04-30 15:20:01 +02:00
parent 8291a6b9c1
commit 5578939b84
7 changed files with 51 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
svo/src/matcher.cpp
+9 -9
View File
@@ -213,8 +213,8 @@ bool Matcher::findEpipolarMatchDirect(
if(epi_length_ < 2.0)
{
Vector2d px = (px_A+px_B)/2.0;
Vector2d px_scaled(px/(1<<search_level_));
px_cur_ = (px_A+px_B)/2.0;
Vector2d px_scaled(px_cur_/(1<<search_level_));
bool res;
if(options_.align_1d)
res = feature_alignment::align1D(
@@ -226,8 +226,8 @@ bool Matcher::findEpipolarMatchDirect(
options_.align_max_iter, px_scaled);
if(res)
{
px = px_scaled*(1<<search_level_);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, cur_frame.cam_->cam2world(px), depth))
px_cur_ = px_scaled*(1<<search_level_);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, cur_frame.cam_->cam2world(px_cur_), depth))
return true;
}
return false;
@@ -282,8 +282,8 @@ bool Matcher::findEpipolarMatchDirect(
{
if(options_.subpix_refinement)
{
Vector2d px(cur_frame.cam_->world2cam(uv_best));
Vector2d px_scaled(px/(1<<search_level_));
px_cur_ = cur_frame.cam_->world2cam(uv_best);
Vector2d px_scaled(px_cur_/(1<<search_level_));
bool res;
if(options_.align_1d)
res = feature_alignment::align1D(
@@ -295,13 +295,13 @@ bool Matcher::findEpipolarMatchDirect(
options_.align_max_iter, px_scaled);
if(res)
{
px = px_scaled*(1<<search_level_);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, cur_frame.cam_->cam2world(px), depth))
px_cur_ = px_scaled*(1<<search_level_);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, cur_frame.cam_->cam2world(px_cur_), depth))
return true;
}
return false;
}
px_cur_ = cur_frame.cam_->world2cam(uv_best);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, vk::unproject2d(uv_best).normalized(), depth))
return true;
}